diff --git a/cmds/servicemanager/Android.bp b/cmds/servicemanager/Android.bp
index 61f931e..1386660 100644
--- a/cmds/servicemanager/Android.bp
+++ b/cmds/servicemanager/Android.bp
@@ -48,17 +48,6 @@
 }
 
 cc_binary {
-    name: "servicemanager.microdroid",
-    defaults: ["servicemanager_defaults"],
-    init_rc: ["servicemanager.microdroid.rc"],
-    srcs: ["main.cpp"],
-    bootstrap: true,
-    // Prevent this from being installed when running tests in this directory.
-    // This is okay because microdorid build rule can bundle this anyway.
-    installable: false,
-}
-
-cc_binary {
     name: "servicemanager.recovery",
     stem: "servicemanager",
     recovery: true,
diff --git a/cmds/servicemanager/servicemanager.microdroid.rc b/cmds/servicemanager/servicemanager.microdroid.rc
deleted file mode 100644
index 8819e1e..0000000
--- a/cmds/servicemanager/servicemanager.microdroid.rc
+++ /dev/null
@@ -1,8 +0,0 @@
-service servicemanager /system/bin/servicemanager.microdroid
-    class core
-    user system
-    group system readproc
-    critical
-    onrestart setprop servicemanager.ready false
-    onrestart restart apexd
-    shutdown critical
diff --git a/libs/binder/IPCThreadState.cpp b/libs/binder/IPCThreadState.cpp
index 11c8e5d..7770374 100644
--- a/libs/binder/IPCThreadState.cpp
+++ b/libs/binder/IPCThreadState.cpp
@@ -45,11 +45,11 @@
 
 #define IF_LOG_TRANSACTIONS() if (false)
 #define IF_LOG_COMMANDS() if (false)
-#define LOG_REMOTEREFS(...) 
+#define LOG_REMOTEREFS(...)
 #define IF_LOG_REMOTEREFS() if (false)
 
-#define LOG_THREADPOOL(...) 
-#define LOG_ONEWAY(...) 
+#define LOG_THREADPOOL(...)
+#define LOG_ONEWAY(...)
 
 #else
 
@@ -394,14 +394,92 @@
     // context, so we don't abort
 }
 
+constexpr uint32_t encodeExplicitIdentity(bool hasExplicitIdentity, pid_t callingPid) {
+    uint32_t as_unsigned = static_cast<uint32_t>(callingPid);
+    if (hasExplicitIdentity) {
+        return as_unsigned | (1 << 30);
+    } else {
+        return as_unsigned & ~(1 << 30);
+    }
+}
+
+constexpr int64_t packCallingIdentity(bool hasExplicitIdentity, uid_t callingUid,
+                                      pid_t callingPid) {
+    // Calling PID is a 32-bit signed integer, but doesn't consume the entire 32 bit space.
+    // To future-proof this and because we have extra capacity, we decided to also support -1,
+    // since this constant is used to represent invalid UID in other places of the system.
+    // Thus, we pack hasExplicitIdentity into the 2nd bit from the left.  This allows us to
+    // preserve the (left-most) bit for the sign while also encoding the value of
+    // hasExplicitIdentity.
+    //               32b     |        1b         |         1b            |        30b
+    // token = [ calling uid | calling pid(sign) | has explicit identity | calling pid(rest) ]
+    uint64_t token = (static_cast<uint64_t>(callingUid) << 32) |
+            encodeExplicitIdentity(hasExplicitIdentity, callingPid);
+    return static_cast<int64_t>(token);
+}
+
+constexpr bool unpackHasExplicitIdentity(int64_t token) {
+    return static_cast<int32_t>(token) & (1 << 30);
+}
+
+constexpr uid_t unpackCallingUid(int64_t token) {
+    return static_cast<uid_t>(token >> 32);
+}
+
+constexpr pid_t unpackCallingPid(int64_t token) {
+    int32_t encodedPid = static_cast<int32_t>(token);
+    if (encodedPid & (1 << 31)) {
+        return encodedPid | (1 << 30);
+    } else {
+        return encodedPid & ~(1 << 30);
+    }
+}
+
+static_assert(unpackHasExplicitIdentity(packCallingIdentity(true, 1000, 9999)) == true,
+              "pack true hasExplicit");
+
+static_assert(unpackCallingUid(packCallingIdentity(true, 1000, 9999)) == 1000, "pack true uid");
+
+static_assert(unpackCallingPid(packCallingIdentity(true, 1000, 9999)) == 9999, "pack true pid");
+
+static_assert(unpackHasExplicitIdentity(packCallingIdentity(false, 1000, 9999)) == false,
+              "pack false hasExplicit");
+
+static_assert(unpackCallingUid(packCallingIdentity(false, 1000, 9999)) == 1000, "pack false uid");
+
+static_assert(unpackCallingPid(packCallingIdentity(false, 1000, 9999)) == 9999, "pack false pid");
+
+static_assert(unpackHasExplicitIdentity(packCallingIdentity(true, 1000, -1)) == true,
+              "pack true (negative) hasExplicit");
+
+static_assert(unpackCallingUid(packCallingIdentity(true, 1000, -1)) == 1000,
+              "pack true (negative) uid");
+
+static_assert(unpackCallingPid(packCallingIdentity(true, 1000, -1)) == -1,
+              "pack true (negative) pid");
+
+static_assert(unpackHasExplicitIdentity(packCallingIdentity(false, 1000, -1)) == false,
+              "pack false (negative) hasExplicit");
+
+static_assert(unpackCallingUid(packCallingIdentity(false, 1000, -1)) == 1000,
+              "pack false (negative) uid");
+
+static_assert(unpackCallingPid(packCallingIdentity(false, 1000, -1)) == -1,
+              "pack false (negative) pid");
+
 int64_t IPCThreadState::clearCallingIdentity()
 {
     // ignore mCallingSid for legacy reasons
-    int64_t token = ((int64_t)mCallingUid<<32) | mCallingPid;
+    int64_t token = packCallingIdentity(mHasExplicitIdentity, mCallingUid, mCallingPid);
     clearCaller();
+    mHasExplicitIdentity = true;
     return token;
 }
 
+bool IPCThreadState::hasExplicitIdentity() {
+    return mHasExplicitIdentity;
+}
+
 void IPCThreadState::setStrictModePolicy(int32_t policy)
 {
     mStrictModePolicy = policy;
@@ -474,9 +552,10 @@
 
 void IPCThreadState::restoreCallingIdentity(int64_t token)
 {
-    mCallingUid = (int)(token>>32);
+    mCallingUid = unpackCallingUid(token);
     mCallingSid = nullptr;  // not enough data to restore
-    mCallingPid = (int)token;
+    mCallingPid = unpackCallingPid(token);
+    mHasExplicitIdentity = unpackHasExplicitIdentity(token);
 }
 
 void IPCThreadState::clearCaller()
@@ -889,6 +968,7 @@
         mCallRestriction(mProcess->mCallRestriction) {
     pthread_setspecific(gTLS, this);
     clearCaller();
+    mHasExplicitIdentity = false;
     mIn.setDataCapacity(256);
     mOut.setDataCapacity(256);
 }
@@ -1279,6 +1359,7 @@
             const pid_t origPid = mCallingPid;
             const char* origSid = mCallingSid;
             const uid_t origUid = mCallingUid;
+            const bool origHasExplicitIdentity = mHasExplicitIdentity;
             const int32_t origStrictModePolicy = mStrictModePolicy;
             const int32_t origTransactionBinderFlags = mLastTransactionBinderFlags;
             const int32_t origWorkSource = mWorkSource;
@@ -1292,6 +1373,7 @@
             mCallingPid = tr.sender_pid;
             mCallingSid = reinterpret_cast<const char*>(tr_secctx.secctx);
             mCallingUid = tr.sender_euid;
+            mHasExplicitIdentity = false;
             mLastTransactionBinderFlags = tr.flags;
 
             // ALOGI(">>>> TRANSACT from pid %d sid %s uid %d\n", mCallingPid,
@@ -1367,6 +1449,7 @@
             mCallingPid = origPid;
             mCallingSid = origSid;
             mCallingUid = origUid;
+            mHasExplicitIdentity = origHasExplicitIdentity;
             mStrictModePolicy = origStrictModePolicy;
             mLastTransactionBinderFlags = origTransactionBinderFlags;
             mWorkSource = origWorkSource;
diff --git a/libs/binder/include/binder/IPCThreadState.h b/libs/binder/include/binder/IPCThreadState.h
index c01e92f..65b77c6 100644
--- a/libs/binder/include/binder/IPCThreadState.h
+++ b/libs/binder/include/binder/IPCThreadState.h
@@ -139,6 +139,7 @@
             int64_t             clearCallingIdentity();
             // Restores PID/UID (not SID)
             void                restoreCallingIdentity(int64_t token);
+            bool hasExplicitIdentity();
 
             status_t            setupPolling(int* fd);
             status_t            handlePolledCommands();
@@ -241,6 +242,7 @@
             bool                mPropagateWorkSource;
             bool                mIsLooper;
             bool mIsFlushing;
+            bool mHasExplicitIdentity;
             int32_t             mStrictModePolicy;
             int32_t             mLastTransactionBinderFlags;
             CallRestriction     mCallRestriction;
diff --git a/libs/binder/include_rpc_unstable/binder_rpc_unstable.hpp b/libs/binder/include_rpc_unstable/binder_rpc_unstable.hpp
index dd177af..f08bde8 100644
--- a/libs/binder/include_rpc_unstable/binder_rpc_unstable.hpp
+++ b/libs/binder/include_rpc_unstable/binder_rpc_unstable.hpp
@@ -17,20 +17,41 @@
 #pragma once
 
 #include <sys/socket.h>
+#include <stdint.h>
 
 extern "C" {
 
 struct AIBinder;
+struct ARpcServer;
 
 // Starts an RPC server on a given port and a given root IBinder object.
-// This function sets up the server and joins before returning.
-bool RunVsockRpcServer(AIBinder* service, unsigned int port);
+// Returns an opaque handle to the running server instance, or null if the server
+// could not be started.
+[[nodiscard]] ARpcServer* ARpcServer_newVsock(AIBinder* service, unsigned int port);
 
-// Starts an RPC server on a given port and a given root IBinder object.
-// This function sets up the server, calls readyCallback with a given param, and
-// then joins before returning.
-bool RunVsockRpcServerCallback(AIBinder* service, unsigned int port,
-                               void (*readyCallback)(void* param), void* param);
+// Starts a Unix domain RPC server with a given init-managed Unix domain `name`
+// and a given root IBinder object.
+// The socket should be created in init.rc with the same `name`.
+// Returns an opaque handle to the running server instance, or null if the server
+// could not be started.
+[[nodiscard]] ARpcServer* ARpcServer_newInitUnixDomain(AIBinder* service, const char* name);
+
+// Runs ARpcServer_join() in a background thread. Immediately returns.
+void ARpcServer_start(ARpcServer* server);
+
+// Joins the thread of a running RpcServer instance. At any given point, there
+// can only be one thread calling ARpcServer_join().
+// If a client needs to actively terminate join, call ARpcServer_shutdown() in
+// a separate thread.
+void ARpcServer_join(ARpcServer* server);
+
+// Shuts down any running ARpcServer_join().
+void ARpcServer_shutdown(ARpcServer* server);
+
+// Frees the ARpcServer handle and drops the reference count on the underlying
+// RpcServer instance. The handle must not be reused afterwards.
+// This automatically calls ARpcServer_shutdown().
+void ARpcServer_free(ARpcServer* server);
 
 // Starts an RPC server on a given port and a given root IBinder factory.
 // RunVsockRpcServerWithFactory acts like RunVsockRpcServerCallback, but instead of
@@ -42,15 +63,6 @@
 
 AIBinder* VsockRpcClient(unsigned int cid, unsigned int port);
 
-// Starts a Unix domain RPC server with a given init-managed Unix domain `name` and
-// a given root IBinder object.
-// The socket should be created in init.rc with the same `name`.
-//
-// This function sets up the server, calls readyCallback with a given param, and
-// then joins before returning.
-bool RunInitUnixDomainRpcServer(AIBinder* service, const char* name,
-                                void (*readyCallback)(void* param), void* param);
-
 // Gets the service via the RPC binder with Unix domain socket with the given
 // Unix socket `name`.
 // The final Unix domain socket path name is /dev/socket/`name`.
diff --git a/libs/binder/libbinder_rpc_unstable.cpp b/libs/binder/libbinder_rpc_unstable.cpp
index 9edb3b6..f55c779 100644
--- a/libs/binder/libbinder_rpc_unstable.cpp
+++ b/libs/binder/libbinder_rpc_unstable.cpp
@@ -14,6 +14,8 @@
  * limitations under the License.
  */
 
+#include <binder_rpc_unstable.hpp>
+
 #include <android-base/logging.h>
 #include <android-base/unique_fd.h>
 #include <android/binder_libbinder.h>
@@ -25,23 +27,32 @@
 using android::OK;
 using android::RpcServer;
 using android::RpcSession;
+using android::sp;
 using android::status_t;
 using android::statusToString;
 using android::base::unique_fd;
 
-extern "C" {
+// Opaque handle for RpcServer.
+struct ARpcServer {};
 
-void RunRpcServer(android::sp<RpcServer>& server, AIBinder* service,
-                  void (*readyCallback)(void* param), void* param) {
-    server->setRootObject(AIBinder_toPlatformBinder(service));
-
-    if (readyCallback) readyCallback(param);
-    server->join();
-
-    // Shutdown any open sessions since server failed.
-    (void)server->shutdown();
+static sp<RpcServer> toRpcServer(ARpcServer* handle) {
+    auto ref = reinterpret_cast<RpcServer*>(handle);
+    return sp<RpcServer>::fromExisting(ref);
 }
 
+static ARpcServer* createRpcServerHandle(sp<RpcServer>& server) {
+    auto ref = server.get();
+    ref->incStrong(ref);
+    return reinterpret_cast<ARpcServer*>(ref);
+}
+
+static void freeRpcServerHandle(ARpcServer* handle) {
+    auto ref = reinterpret_cast<RpcServer*>(handle);
+    ref->decStrong(ref);
+}
+
+extern "C" {
+
 bool RunVsockRpcServerWithFactory(AIBinder* (*factory)(unsigned int cid, void* context),
                                   void* factoryContext, unsigned int port) {
     auto server = RpcServer::make();
@@ -64,20 +75,47 @@
     return true;
 }
 
-bool RunVsockRpcServerCallback(AIBinder* service, unsigned int port,
-                               void (*readyCallback)(void* param), void* param) {
+ARpcServer* ARpcServer_newVsock(AIBinder* service, unsigned int port) {
     auto server = RpcServer::make();
     if (status_t status = server->setupVsockServer(port); status != OK) {
         LOG(ERROR) << "Failed to set up vsock server with port " << port
                    << " error: " << statusToString(status).c_str();
-        return false;
+        return nullptr;
     }
-    RunRpcServer(server, service, readyCallback, param);
-    return true;
+    server->setRootObject(AIBinder_toPlatformBinder(service));
+    return createRpcServerHandle(server);
 }
 
-bool RunVsockRpcServer(AIBinder* service, unsigned int port) {
-    return RunVsockRpcServerCallback(service, port, nullptr, nullptr);
+ARpcServer* ARpcServer_newInitUnixDomain(AIBinder* service, const char* name) {
+    auto server = RpcServer::make();
+    auto fd = unique_fd(android_get_control_socket(name));
+    if (!fd.ok()) {
+        LOG(ERROR) << "Failed to get fd for the socket:" << name;
+        return nullptr;
+    }
+    if (status_t status = server->setupRawSocketServer(std::move(fd)); status != OK) {
+        LOG(ERROR) << "Failed to set up Unix Domain RPC server with name " << name
+                   << " error: " << statusToString(status).c_str();
+        return nullptr;
+    }
+    server->setRootObject(AIBinder_toPlatformBinder(service));
+    return createRpcServerHandle(server);
+}
+
+void ARpcServer_start(ARpcServer* handle) {
+    toRpcServer(handle)->start();
+}
+
+void ARpcServer_join(ARpcServer* handle) {
+    toRpcServer(handle)->join();
+}
+
+void ARpcServer_shutdown(ARpcServer* handle) {
+    toRpcServer(handle)->shutdown();
+}
+
+void ARpcServer_free(ARpcServer* handle) {
+    freeRpcServerHandle(handle);
 }
 
 AIBinder* VsockRpcClient(unsigned int cid, unsigned int port) {
@@ -90,23 +128,6 @@
     return AIBinder_fromPlatformBinder(session->getRootObject());
 }
 
-bool RunInitUnixDomainRpcServer(AIBinder* service, const char* name,
-                                void (*readyCallback)(void* param), void* param) {
-    auto server = RpcServer::make();
-    auto fd = unique_fd(android_get_control_socket(name));
-    if (!fd.ok()) {
-        LOG(ERROR) << "Failed to get fd for the socket:" << name;
-        return false;
-    }
-    if (status_t status = server->setupRawSocketServer(std::move(fd)); status != OK) {
-        LOG(ERROR) << "Failed to set up Unix Domain RPC server with name " << name
-                   << " error: " << statusToString(status).c_str();
-        return false;
-    }
-    RunRpcServer(server, service, readyCallback, param);
-    return true;
-}
-
 AIBinder* UnixDomainRpcClient(const char* name) {
     std::string pathname(name);
     pathname = ANDROID_SOCKET_DIR "/" + pathname;
diff --git a/libs/binder/libbinder_rpc_unstable.map.txt b/libs/binder/libbinder_rpc_unstable.map.txt
index f9c7bcf..1bc2416 100644
--- a/libs/binder/libbinder_rpc_unstable.map.txt
+++ b/libs/binder/libbinder_rpc_unstable.map.txt
@@ -1,9 +1,12 @@
 LIBBINDER_RPC_UNSTABLE_SHIM { # platform-only
   global:
-    RunVsockRpcServer;
-    RunVsockRpcServerCallback;
+    ARpcServer_free;
+    ARpcServer_join;
+    ARpcServer_newInitUnixDomain;
+    ARpcServer_newVsock;
+    ARpcServer_shutdown;
+    ARpcServer_start;
     VsockRpcClient;
-    RunInitUnixDomainRpcServer;
     UnixDomainRpcClient;
     RpcPreconnectedClient;
   local:
diff --git a/libs/binder/ndk/include_platform/android/binder_manager.h b/libs/binder/ndk/include_platform/android/binder_manager.h
index 1f1defe..ad4188f 100644
--- a/libs/binder/ndk/include_platform/android/binder_manager.h
+++ b/libs/binder/ndk/include_platform/android/binder_manager.h
@@ -68,6 +68,7 @@
  *
  * \param instance identifier of the service used to lookup the service.
  */
+[[deprecated("this polls 5s, use AServiceManager_waitForService or AServiceManager_checkService")]]
 __attribute__((warn_unused_result)) AIBinder* AServiceManager_getService(const char* instance)
         __INTRODUCED_IN(29);
 
diff --git a/libs/binder/rust/rpcbinder/Android.bp b/libs/binder/rust/rpcbinder/Android.bp
index 9771cc9..f70ebfc 100644
--- a/libs/binder/rust/rpcbinder/Android.bp
+++ b/libs/binder/rust/rpcbinder/Android.bp
@@ -19,6 +19,7 @@
         "libbinder_rpc_unstable_bindgen_sys",
         "libbinder_rs",
         "libdowncast_rs",
+        "libforeign_types",
         "liblibc",
         "liblog_rust",
     ],
diff --git a/libs/binder/rust/rpcbinder/src/lib.rs b/libs/binder/rust/rpcbinder/src/lib.rs
index 89a49a4..1b719aa 100644
--- a/libs/binder/rust/rpcbinder/src/lib.rs
+++ b/libs/binder/rust/rpcbinder/src/lib.rs
@@ -23,6 +23,4 @@
     get_preconnected_rpc_interface, get_preconnected_rpc_service, get_unix_domain_rpc_interface,
     get_unix_domain_rpc_service, get_vsock_rpc_interface, get_vsock_rpc_service,
 };
-pub use server::{
-    run_init_unix_domain_rpc_server, run_vsock_rpc_server, run_vsock_rpc_server_with_factory,
-};
+pub use server::{run_vsock_rpc_server_with_factory, RpcServer, RpcServerRef};
diff --git a/libs/binder/rust/rpcbinder/src/server.rs b/libs/binder/rust/rpcbinder/src/server.rs
index b350a13..42f5567 100644
--- a/libs/binder/rust/rpcbinder/src/server.rs
+++ b/libs/binder/rust/rpcbinder/src/server.rs
@@ -18,114 +18,89 @@
     unstable_api::{AIBinder, AsNative},
     SpIBinder,
 };
+use binder_rpc_unstable_bindgen::ARpcServer;
+use foreign_types::{foreign_type, ForeignType, ForeignTypeRef};
+use std::io::{Error, ErrorKind};
 use std::{ffi::CString, os::raw, ptr::null_mut};
 
-/// Runs a binder RPC server, serving the supplied binder service implementation on the given vsock
-/// port.
-///
-/// If and when the server is ready for connections (it is listening on the port), `on_ready` is
-/// called to allow appropriate action to be taken - e.g. to notify clients that they may now
-/// attempt to connect.
-///
-/// The current thread is joined to the binder thread pool to handle incoming messages.
-///
-/// Returns true if the server has shutdown normally, false if it failed in some way.
-pub fn run_vsock_rpc_server<F>(service: SpIBinder, port: u32, on_ready: F) -> bool
-where
-    F: FnOnce(),
-{
-    let mut ready_notifier = ReadyNotifier(Some(on_ready));
-    ready_notifier.run_vsock_server(service, port)
+foreign_type! {
+    type CType = binder_rpc_unstable_bindgen::ARpcServer;
+    fn drop = binder_rpc_unstable_bindgen::ARpcServer_free;
+
+    /// A type that represents a foreign instance of RpcServer.
+    #[derive(Debug)]
+    pub struct RpcServer;
+    /// A borrowed RpcServer.
+    pub struct RpcServerRef;
 }
 
-/// Runs a binder RPC server, serving the supplied binder service implementation on the given
-/// socket file name. The socket should be initialized in init.rc with the same name.
-///
-/// If and when the server is ready for connections, `on_ready` is called to allow appropriate
-/// action to be taken - e.g. to notify clients that they may now attempt to connect.
-///
-/// The current thread is joined to the binder thread pool to handle incoming messages.
-///
-/// Returns true if the server has shutdown normally, false if it failed in some way.
-pub fn run_init_unix_domain_rpc_server<F>(
-    service: SpIBinder,
-    socket_name: &str,
-    on_ready: F,
-) -> bool
-where
-    F: FnOnce(),
-{
-    let mut ready_notifier = ReadyNotifier(Some(on_ready));
-    ready_notifier.run_init_unix_domain_server(service, socket_name)
-}
+/// SAFETY - The opaque handle can be cloned freely.
+unsafe impl Send for RpcServer {}
+/// SAFETY - The underlying C++ RpcServer class is thread-safe.
+unsafe impl Sync for RpcServer {}
 
-struct ReadyNotifier<F>(Option<F>)
-where
-    F: FnOnce();
-
-impl<F> ReadyNotifier<F>
-where
-    F: FnOnce(),
-{
-    fn run_vsock_server(&mut self, mut service: SpIBinder, port: u32) -> bool {
+impl RpcServer {
+    /// Creates a binder RPC server, serving the supplied binder service implementation on the given
+    /// vsock port.
+    pub fn new_vsock(mut service: SpIBinder, port: u32) -> Result<RpcServer, Error> {
         let service = service.as_native_mut();
-        let param = self.as_void_ptr();
 
         // SAFETY: Service ownership is transferring to the server and won't be valid afterward.
         // Plus the binder objects are threadsafe.
-        // RunVsockRpcServerCallback does not retain a reference to `ready_callback` or `param`; it only
-        // uses them before it returns, which is during the lifetime of `self`.
         unsafe {
-            binder_rpc_unstable_bindgen::RunVsockRpcServerCallback(
-                service,
-                port,
-                Some(Self::ready_callback),
-                param,
-            )
+            Self::checked_from_ptr(binder_rpc_unstable_bindgen::ARpcServer_newVsock(service, port))
         }
     }
 
-    fn run_init_unix_domain_server(&mut self, mut service: SpIBinder, socket_name: &str) -> bool {
+    /// Creates a binder RPC server, serving the supplied binder service implementation on the given
+    /// socket file name. The socket should be initialized in init.rc with the same name.
+    pub fn new_init_unix_domain(
+        mut service: SpIBinder,
+        socket_name: &str,
+    ) -> Result<RpcServer, Error> {
         let socket_name = match CString::new(socket_name) {
             Ok(s) => s,
             Err(e) => {
                 log::error!("Cannot convert {} to CString. Error: {:?}", socket_name, e);
-                return false;
+                return Err(Error::from(ErrorKind::InvalidInput));
             }
         };
         let service = service.as_native_mut();
-        let param = self.as_void_ptr();
 
         // SAFETY: Service ownership is transferring to the server and won't be valid afterward.
         // Plus the binder objects are threadsafe.
-        // RunInitUnixDomainRpcServer does not retain a reference to `ready_callback` or `param`;
-        // it only uses them before it returns, which is during the lifetime of `self`.
         unsafe {
-            binder_rpc_unstable_bindgen::RunInitUnixDomainRpcServer(
+            Self::checked_from_ptr(binder_rpc_unstable_bindgen::ARpcServer_newInitUnixDomain(
                 service,
                 socket_name.as_ptr(),
-                Some(Self::ready_callback),
-                param,
-            )
+            ))
         }
     }
 
-    fn as_void_ptr(&mut self) -> *mut raw::c_void {
-        self as *mut _ as *mut raw::c_void
-    }
-
-    unsafe extern "C" fn ready_callback(param: *mut raw::c_void) {
-        // SAFETY: This is only ever called by `RunVsockRpcServerCallback`, within the lifetime of the
-        // `ReadyNotifier`, with `param` taking the value returned by `as_void_ptr` (so a properly
-        // aligned non-null pointer to an initialized instance).
-        let ready_notifier = param as *mut Self;
-        ready_notifier.as_mut().unwrap().notify()
-    }
-
-    fn notify(&mut self) {
-        if let Some(on_ready) = self.0.take() {
-            on_ready();
+    unsafe fn checked_from_ptr(ptr: *mut ARpcServer) -> Result<RpcServer, Error> {
+        if ptr.is_null() {
+            return Err(Error::new(ErrorKind::Other, "Failed to start server"));
         }
+        Ok(RpcServer::from_ptr(ptr))
+    }
+}
+
+impl RpcServerRef {
+    /// Starts a new background thread and calls join(). Returns immediately.
+    pub fn start(&self) {
+        unsafe { binder_rpc_unstable_bindgen::ARpcServer_start(self.as_ptr()) };
+    }
+
+    /// Joins the RpcServer thread. The call blocks until the server terminates.
+    /// This must be called from exactly one thread.
+    pub fn join(&self) {
+        unsafe { binder_rpc_unstable_bindgen::ARpcServer_join(self.as_ptr()) };
+    }
+
+    /// Shuts down the running RpcServer. Can be called multiple times and from
+    /// multiple threads. Called automatically during drop().
+    pub fn shutdown(&self) {
+        unsafe { binder_rpc_unstable_bindgen::ARpcServer_shutdown(self.as_ptr()) };
     }
 }
 
diff --git a/libs/fakeservicemanager/ServiceManager.cpp b/libs/fakeservicemanager/ServiceManager.cpp
index 480ec79..1109ad8 100644
--- a/libs/fakeservicemanager/ServiceManager.cpp
+++ b/libs/fakeservicemanager/ServiceManager.cpp
@@ -36,6 +36,9 @@
 status_t ServiceManager::addService(const String16& name, const sp<IBinder>& service,
                                 bool /*allowIsolated*/,
                                 int /*dumpsysFlags*/) {
+    if (service == nullptr) {
+        return UNEXPECTED_NULL;
+    }
     mNameToService[name] = service;
     return NO_ERROR;
 }
@@ -103,4 +106,8 @@
     std::vector<IServiceManager::ServiceDebugInfo> ret;
     return ret;
 }
+
+void ServiceManager::clear() {
+    mNameToService.clear();
+}
 }  // namespace android
diff --git a/libs/fakeservicemanager/include/fakeservicemanager/ServiceManager.h b/libs/fakeservicemanager/include/fakeservicemanager/ServiceManager.h
index ee0637e..ba6bb7d 100644
--- a/libs/fakeservicemanager/include/fakeservicemanager/ServiceManager.h
+++ b/libs/fakeservicemanager/include/fakeservicemanager/ServiceManager.h
@@ -64,6 +64,9 @@
 
     std::vector<IServiceManager::ServiceDebugInfo> getServiceDebugInfo() override;
 
+    // Clear all of the registered services
+    void clear();
+
 private:
     std::map<String16, sp<IBinder>> mNameToService;
 };
diff --git a/libs/fakeservicemanager/test_sm.cpp b/libs/fakeservicemanager/test_sm.cpp
index 71e5abe..8682c1c 100644
--- a/libs/fakeservicemanager/test_sm.cpp
+++ b/libs/fakeservicemanager/test_sm.cpp
@@ -50,6 +50,12 @@
         IServiceManager::DUMP_FLAG_PRIORITY_DEFAULT), OK);
 }
 
+TEST(AddService, SadNullBinder) {
+    auto sm = new ServiceManager();
+    EXPECT_EQ(sm->addService(String16("foo"), nullptr, false /*allowIsolated*/,
+        IServiceManager::DUMP_FLAG_PRIORITY_DEFAULT), android::UNEXPECTED_NULL);
+}
+
 TEST(AddService, HappyOverExistingService) {
     auto sm = new ServiceManager();
     EXPECT_EQ(sm->addService(String16("foo"), getBinder(), false /*allowIsolated*/,
@@ -58,6 +64,15 @@
         IServiceManager::DUMP_FLAG_PRIORITY_DEFAULT), OK);
 }
 
+TEST(AddService, HappyClearAddedService) {
+    auto sm = new ServiceManager();
+    EXPECT_EQ(sm->addService(String16("foo"), getBinder(), false /*allowIsolated*/,
+        IServiceManager::DUMP_FLAG_PRIORITY_DEFAULT), OK);
+    EXPECT_NE(sm->getService(String16("foo")), nullptr);
+    sm->clear();
+    EXPECT_EQ(sm->getService(String16("foo")), nullptr);
+}
+
 TEST(GetService, HappyHappy) {
     auto sm = new ServiceManager();
     sp<IBinder> service = getBinder();
diff --git a/libs/sensor/Android.bp b/libs/sensor/Android.bp
index 2b93c6e..b6b9cc4 100644
--- a/libs/sensor/Android.bp
+++ b/libs/sensor/Android.bp
@@ -21,9 +21,10 @@
     default_applicable_licenses: ["frameworks_native_license"],
 }
 
-cc_library_shared {
+cc_library {
     name: "libsensor",
 
+    host_supported: true,
     cflags: [
         "-Wall",
         "-Werror",
diff --git a/services/sensorservice/aidl/Android.bp b/services/sensorservice/aidl/Android.bp
index bbf49da..34d1de7 100644
--- a/services/sensorservice/aidl/Android.bp
+++ b/services/sensorservice/aidl/Android.bp
@@ -7,7 +7,7 @@
     default_applicable_licenses: ["frameworks_native_license"],
 }
 
-cc_library_shared {
+cc_library {
     name: "libsensorserviceaidl",
     srcs: [
         "EventQueue.cpp",
@@ -15,6 +15,7 @@
         "SensorManager.cpp",
         "utils.cpp",
     ],
+    host_supported: true,
     cflags: [
         "-Wall",
         "-Werror",
diff --git a/services/sensorservice/aidl/EventQueue.cpp b/services/sensorservice/aidl/EventQueue.cpp
index d4e8906..88ab7a7 100644
--- a/services/sensorservice/aidl/EventQueue.cpp
+++ b/services/sensorservice/aidl/EventQueue.cpp
@@ -34,7 +34,7 @@
                              std::shared_ptr<IEventQueueCallback> callback)
           : mQueue(queue), mCallback(callback) {}
 
-    int handleEvent(__unused int fd, __unused int events, __unused void* data) {
+    int handleEvent(int /* fd */, int /* events */, void* /* data */) {
         ASensorEvent event;
         ssize_t actual;
 
diff --git a/services/sensorservice/aidl/fuzzer/Android.bp b/services/sensorservice/aidl/fuzzer/Android.bp
new file mode 100644
index 0000000..0d6e476
--- /dev/null
+++ b/services/sensorservice/aidl/fuzzer/Android.bp
@@ -0,0 +1,52 @@
+package {
+    // See: http://go/android-license-faq
+    // A large-scale-change added 'default_applicable_licenses' to import
+    // all of the 'license_kinds' from "frameworks_native_license"
+    // to get the below license kinds:
+    //   SPDX-license-identifier-Apache-2.0
+    default_applicable_licenses: ["frameworks_native_license"],
+}
+
+cc_fuzz {
+    name: "libsensorserviceaidl_fuzzer",
+    defaults: [
+        "service_fuzzer_defaults",
+    ],
+    host_supported: true,
+    static_libs: [
+        "libsensorserviceaidl",
+        "libpermission",
+        "android.frameworks.sensorservice-V1-ndk",
+        "android.hardware.sensors-V1-convert",
+        "android.hardware.sensors-V1-ndk",
+        "android.hardware.common-V2-ndk",
+        "libsensor",
+        "libfakeservicemanager",
+        "libcutils",
+        "liblog",
+    ],
+    srcs: [
+        "fuzzer.cpp",
+    ],
+    fuzz_config: {
+        cc: [
+            "android-sensors@google.com",
+            "devinmoore@google.com",
+        ],
+    },
+    sanitize: {
+        misc_undefined: [
+            "signed-integer-overflow",
+            "unsigned-integer-overflow",
+        ],
+        diag: {
+            misc_undefined: [
+                "signed-integer-overflow",
+                "unsigned-integer-overflow",
+            ],
+        },
+        address: true,
+        integer_overflow: true,
+    },
+
+}
diff --git a/services/sensorservice/aidl/fuzzer/fuzzer.cpp b/services/sensorservice/aidl/fuzzer/fuzzer.cpp
new file mode 100644
index 0000000..1b63d76
--- /dev/null
+++ b/services/sensorservice/aidl/fuzzer/fuzzer.cpp
@@ -0,0 +1,53 @@
+/*
+ * Copyright (C) 2022 The Android Open Source Project
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *      http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+#include <fuzzbinder/libbinder_ndk_driver.h>
+#include <fuzzer/FuzzedDataProvider.h>
+
+#include <ServiceManager.h>
+#include <android-base/logging.h>
+#include <android/binder_interface_utils.h>
+#include <fuzzbinder/random_binder.h>
+#include <sensorserviceaidl/SensorManagerAidl.h>
+
+using android::fuzzService;
+using android::frameworks::sensorservice::implementation::SensorManagerAidl;
+using ndk::SharedRefBase;
+
+[[clang::no_destroy]] static std::once_flag gSmOnce;
+
+extern "C" int LLVMFuzzerTestOneInput(const uint8_t* data, size_t size) {
+    static android::sp<android::ServiceManager> fakeServiceManager = new android::ServiceManager();
+    std::call_once(gSmOnce, [&] { setDefaultServiceManager(fakeServiceManager); });
+    fakeServiceManager->clear();
+
+    FuzzedDataProvider fdp(data, size);
+    android::sp<android::IBinder> binder = android::getRandomBinder(&fdp);
+    if (binder == nullptr) {
+        // Nothing to do if we get a null binder. It will cause SensorManager to
+        // hang while trying to get sensorservice.
+        return 0;
+    }
+
+    CHECK(android::NO_ERROR == fakeServiceManager->addService(android::String16("sensorservice"),
+                                   binder));
+
+    std::shared_ptr<SensorManagerAidl> sensorService =
+            ndk::SharedRefBase::make<SensorManagerAidl>(nullptr);
+
+    fuzzService(sensorService->asBinder().get(), std::move(fdp));
+
+    return 0;
+}